Publication: Desarrollo de una arquitectura para robots móviles autónomos : aplicación a un sistema de navegación topológica
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2000
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2000-07-14
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Abstract
El objetivo de esta tesis es el desarrollo de una arquitectura para el control de robots móviles autónomos y su aplicación al caso de navegación topológica. Para la elaboración de la arquitectura se ha tenido en cuenta como son los procesos mentales en los humanos. La arquitectura desarrollada es una arquitectura que consta de dos noveles; uno deliberativo y otro automático. Por ello la arquitectura ha disodenominada Ad (Automatic-Deliverative Arachitecture). En el nivel de liberativo se encuentran aquellas habilidades que requieren tiempo de cómputo elevado como consecuencia de razonamientos a alto nivel. Estas habilidades son gestionadas por un secuenciador existente en este nivel, que activa y desactiva las distintas habilidades deliberativas. En el nivel automático se encuntran las habilidades que interactúan con los sensores y actuadores del robot. Esta habilidades on gestionadas por habilidades del nivel deliberativo y se encargan del movimiento del robot y de activar los sistemas auxiliares necesarios para la percepción del entorno. La respuesta de las habilidades automáticas son más rápidas que la de las habilidades deliberativas. Dichas arquitectura ha sido aplicada a un novedoso sistema de navegación topológica denominado EDN (Event Driven Navigation). Este sistema se basa en la información contenida en un tipo original de mapa topológico: La carta de navegación. En dicha carta de navegación la información se guarda en forma de nodos y arcos. Los nodos se corresponden con eventos sensoriales y los arcos con acciones. Finalmente, se ha demostrado experimentalmente la viabilidad de la nueva arquitectura y del sistema de navegación implementado sobre ella.
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The objective of this thesis is the development of an architecture for the control of mobile robots and its aplication to topological navigation. To create this architecture we took into account how mental processes are performed in humans. The developed architecture has two levels: one is deliberative and the other is automatic. For this reason, we have named this architecture AD. (Automatic-Deliberative Architecture) The deliberative leve! includes those abilities that require a high computing time because of the high level reasoning. A sequencer located on the same level manages those abilities. The sequencer activates and desactivates the different deliberative abilities. The autornatic !evel includes the abilities that interact with the robot? s sensors and actuators. These abilities are managed by the abilities of the deliberative leve! and are in charge of the movement of the robot and of the auxiliary systems that perceive the environment. The response of the automatic abilities is faster than that of the deliberative abilities. This architecture has been applied in a new navigation system called EDN (Event Driven Navigation). This system is based on the information included in an original topological map: the navigation chart. In this navigation chart the information is kept in node and edge shapes. The nodes correspond to the sensorial evenis and the edges correspond to actions. Finaily, we demonstrate the feasibility of the new architecture as well as the navigation system implemented in it.
The objective of this thesis is the development of an architecture for the control of mobile robots and its aplication to topological navigation. To create this architecture we took into account how mental processes are performed in humans. The developed architecture has two levels: one is deliberative and the other is automatic. For this reason, we have named this architecture AD. (Automatic-Deliberative Architecture) The deliberative leve! includes those abilities that require a high computing time because of the high level reasoning. A sequencer located on the same level manages those abilities. The sequencer activates and desactivates the different deliberative abilities. The autornatic !evel includes the abilities that interact with the robot? s sensors and actuators. These abilities are managed by the abilities of the deliberative leve! and are in charge of the movement of the robot and of the auxiliary systems that perceive the environment. The response of the automatic abilities is faster than that of the deliberative abilities. This architecture has been applied in a new navigation system called EDN (Event Driven Navigation). This system is based on the information included in an original topological map: the navigation chart. In this navigation chart the information is kept in node and edge shapes. The nodes correspond to the sensorial evenis and the edges correspond to actions. Finaily, we demonstrate the feasibility of the new architecture as well as the navigation system implemented in it.
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Robótica, Tecnología de la instrumentación